Abstract
Fuzzy is an intelligent control technique that is suitable for uncertainty and nonlinear systems. In this work, an advanced fuzzy logic control system is designed for an inverted pendulum, an unstable nonlinear system. First, the dynamic characteristics of the system are expressed through Takagi-Sugeno fuzzy model. Then, a parallel distributed compensation (PDC) controller is developed based on the definition of fuzzy sets. The purpose of this paper is to keep the stability of the pendulum angle. Besides, the linear matrix inequalities (LMI) is used for solving stability problem. Lastly, the efficiency and advantages of the proposed fuzzy controller are verified by simulation results.
D.-B. Pham, D.-T. Pham, Q.-T. Dao and V.-A. Nguyen—Contributed equally to this work.
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This research is funded by Hanoi University of Science and Technology (HUST) under project number T2021-TT-002.
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Pham, DB., Pham, DT., Dao, QT., Nguyen, VA. (2022). Takagi-Sugeno Fuzzy Control for Stabilizing Nonlinear Inverted Pendulum. In: Anh, N.L., Koh, SJ., Nguyen, T.D.L., Lloret, J., Nguyen, T.T. (eds) Intelligent Systems and Networks. Lecture Notes in Networks and Systems, vol 471. Springer, Singapore. https://doi.org/10.1007/978-981-19-3394-3_38
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